/****************************************************************************
 *
 *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
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 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#pragma once

#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>

using namespace time_literals;

class SensorBaroSim : public ModuleBase<SensorBaroSim>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
	SensorBaroSim();
	~SensorBaroSim() override;

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	/** @see ModuleBase */
	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

	void check_failure_injection();

private:
	void Run() override;

	// generate white Gaussian noise sample with std=1
	static float generate_wgn();

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};


	bool _baro_rnd_use_last{false};
	double _baro_rnd_y2{0.0};
	float _baro_drift_pa_per_sec{0.0};
	float _baro_drift_pa{0.0};
	bool _baro_blocked{false};

	hrt_abstime _last_update_time{0};

	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
	uORB::Publication<vehicle_command_ack_s>        _command_ack_pub{ORB_ID(vehicle_command_ack)};

	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::SIM_BARO_OFF_P>) _sim_baro_off_p,
		(ParamFloat<px4::params::SIM_BARO_OFF_T>) _sim_baro_off_t
	)
};